How to make a fake controller model track the actual controller position whilst the real controller model is on the interactable obejct

If you grab a rigidbody tracked object and move your controller through a table, then the interactable will not pass through the table as it is affected by game physics but the controller must pass through as it is controlled by real world positions.

Show a way of highlighting this is occuring by showing a "ghosted" style controller that is tracking the actual controller position to show some deviation has occurred.